Client Communication in Python with the Move Group

[FarStryke21]

During feature development in simulation, an easy way is to have a simulation in Gazebo running with an established move_group node. The features can be developed in a separate node which can simply communicate with the existing move_node to perform actions. This was fairly easy in MoveIt1 for ROS1.

On shifting to ROS2, I can't find an easy way to do this. Sure, I can use something like the simulation environment provided by something like this to start the moveit node and gazebo simulation, but I can't find an easy way to talk to the move_group from Python. The closest I came was with the Python API and this tutorial, but the process is extremely sensitive to the launch file params required to start the node.

Do we have something like the MoveIt Commander which allowed the node to act like a client to the move_group server? If not, is there another way to approach this?